Modeling and control of autonomous quadrotor

Abstract

This project discusses the development of detailed mathematical model for specific type of an unmanned aerial vehicle (UAV), which has Vertical Takeoff and Landing (VTOL) ability, known as quadcopter. Mathematical model of quadrotor in state space form is derived; it utilizes Newton and Euler equations for three-dimensional motions. This mathematical model is nonlinear and accurate enough including the aerodynamic effects and rotor dynamics. Quadrotor dynamics can be divided into two subsystems; translational subsystem and rotational subsystem. Translational subsystem is an under actuated system as it depends on roll, pitch, yaw angles and the translational state variables. The rotational subsystem is fully-actuated and only depends on the rotational states. Then development of a nonlinear control approache to control the attitude and position of the quadrotor in space is discussed. A Sliding Mode Controller is designed to control the roll angle, pitch angle, yaw angle, altitude and positions. Simulation results after implementation SMC controller on MATLAB/Simulink are presented.